The RGB-D project, a joint research effort between Intel Labs Seattle and the University of Washington Department of Computer Science & Engineering, has lots of demo videos on their site showing the various ways in which they have been using the PrimeSense RGB-D sensors in their work. These demos include 3D modeling of indoor environments, object recognition, object modeling, and gesture-based interactions.
In the video above, the "Gambit" chess-playing robot uses the RGB-D sensor to monitor a physical chessboard and play against a human opponent. And yes, that is the ROS rviz visualizer in the background.
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